Delta EtherCAT User Manual

Master Initialization EtherCAT Programming Guide
6-4 March, 2017
6
6.2 _ECAT_Master_Initial

Syntax
U16 PASCAL _ECAT_Master_Initial(U16 CardNo)

Purpose
This is for initialiaing EtherCAT communication and switching the slave to OP mode.
Note: After using this API to do the initialization, please apply API “_ECAT_Master_Check_Initial_Done”
(section 6.12) to check the status and wait for it to return “0”. Then, you can start using other functions.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.

Example
U16 Status;
U16 CardNo = 0;
U16 Cardnum = 0;
U16 InitDone = 100;
Status = _ECAT_Master_Open(&Cardnum);
for (U16 CardSeq = 0; CardSeq < Cardnum; CardSeq ++)
{
Status = _ECAT_Master_Get_CardSeq (CardSeq, &CardNo);
Status = _ECAT_Master_Initial(CardNo);
while (InitDone != 0)
{
Status = _ECAT_Master_Check_Initial_Done(CardNo, &InitDone);
if (InitDone == 99)
{
// Error
Status = _ECAT_Master_Get_Initial_ErrorCode(CardNo);
break;
}
}
}

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English